WO2021017294A1 - Procédé de commande de machine - Google Patents

Procédé de commande de machine Download PDF

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Publication number
WO2021017294A1
WO2021017294A1 PCT/CN2019/117844 CN2019117844W WO2021017294A1 WO 2021017294 A1 WO2021017294 A1 WO 2021017294A1 CN 2019117844 W CN2019117844 W CN 2019117844W WO 2021017294 A1 WO2021017294 A1 WO 2021017294A1
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WO
WIPO (PCT)
Prior art keywords
machine
real
temperature
threshold
low
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PCT/CN2019/117844
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English (en)
Chinese (zh)
Inventor
任雪
陈泓
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苏州科瓴精密机械科技有限公司
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Publication of WO2021017294A1 publication Critical patent/WO2021017294A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers

Definitions

  • the invention provides a control method of a machine, in particular a control method of a machine with different low electric thresholds.
  • the power threshold for a machine to be charged is fixed. For example, if the machine is fully charged at 28V, when the voltage of the machine reaches 17V, it needs to be charged. 17V is the low power threshold of the machine. However, at night or in winter, the ambient temperature is low, which will also affect the battery temperature accordingly, making the battery temperature also low. As a result, the discharge capacity of the battery pack is reduced and the discharge time is shortened, so that the remaining power is not enough to support the machine to return to the charging dock. And, if the battery voltage is too low, it will enter the battery's own protection, that is, enter sleep.
  • the present invention aims to provide a control method of a machine that can adjust the low power threshold.
  • the present invention provides a control method of a machine, the control method includes: detecting the real-time temperature Tr of the battery; obtaining the temperature interval in which the real-time temperature Tr is located; obtaining the low power threshold of the machine corresponding to the temperature interval Vd; detect the real-time voltage Vr of the battery; determine the real-time voltage Vr and the low-power threshold Vd; when Vr ⁇ Vd, the machine enters a low-power state; among them, the low-power threshold Vd of the machine corresponding to each temperature range is not exactly the same .
  • the step of "detecting the current real-time temperature Tr of the battery” includes: measuring the real-time temperature Tr of the battery every interval S1.
  • S1 is 200ms.
  • the step of "obtaining the low electrical threshold Vd of the machine corresponding to the temperature range" includes: when Tr ⁇ 5°C, obtaining the low electrical threshold Vd of the machine is 16.9V; when Tr>5°C At this time, the low power threshold Vd of the machine is 17.5V.
  • control method further includes: judging the size of the sleep threshold Vs under the real-time voltage Vr and the real-time temperature Tr; when Vr ⁇ Vs, the machine enters the sleep state.
  • the step of "determining the magnitude of the sleep threshold Vs under the real-time voltage Vr and the real-time temperature Tr" it also includes: obtaining the temperature interval in which the real-time temperature Tr is located; obtaining the sleep threshold Vs of the machine corresponding to the temperature interval .
  • step "obtaining the sleep threshold Vs of the machine corresponding to the temperature range” includes: confirming that when the machine reaches the sleep threshold, the corresponding battery dischargeable capacity is greater than 90mAh; and confirming that the machine reaches the temperature At the low power threshold corresponding to the interval, the dischargeable capacity of the battery is greater than 400mAh.
  • the step of "obtaining the sleep threshold Vs of the machine corresponding to the temperature range" includes: when Tr ⁇ 5°C, obtaining the sleep threshold Vs of the machine as 16.0V; when 5°C ⁇ Tr ⁇ 20°C , Get the machine's sleep threshold Vs as 16.5V; when 20°C ⁇ Tr ⁇ 35°C, get the machine's sleep threshold Vs as 16.0V; when 35°C ⁇ Tr ⁇ 50°C, get the machine's sleep threshold Vs as 16.3V ; When Tr>50°C, the sleep threshold Vs of the acquisition machine is 16.5V.
  • the step "the machine enters the low power state” includes: the machine suspends work and returns to the charging base for charging.
  • the present invention provides a control method of a machine, the control method includes: detecting the real-time temperature Tr of the battery; judging the real-time temperature Tr of the battery and the maximum abnormal temperature Th and the minimum abnormal temperature Tl; When Tl or Tr ⁇ Th, the machine enters the non-working state; when Tl ⁇ Tr ⁇ Th, the machine enters the normal working state; the normal working state includes: obtaining the temperature interval where the real-time temperature Tr is located; obtaining the corresponding temperature interval Detect the real-time voltage Vr of the battery; determine the size of the real-time voltage Vr and the low-voltage threshold Vd; when Vr ⁇ Vd, the machine enters the low-power state.
  • Tl is 0°C and Th is 70°C.
  • the machine has different temperature intervals for machine judgment and selection, and the temperature intervals correspond to the low electric threshold Vd, and different temperature intervals point to different low electric thresholds Vd.
  • the machine selects an appropriate low-power threshold Vd, so that the machine can enter a low-power state after reaching the low-power threshold Vd, so that the machine can automatically or passively perform subsequent operations. If Vr>Vd, the machine continues to work and still measures and judges the real-time temperature Tr and real-time voltage Vr.
  • FIG. 1 is a schematic diagram of the flow in the first embodiment of the present invention
  • Fig. 2 is a schematic flowchart of another embodiment of the present invention.
  • a machine control method As shown in Fig. 1, in the first embodiment of the present invention, a machine control method is provided, and the control method includes:
  • the low electrical threshold Vd of the machine corresponding to each temperature interval is not completely the same.
  • the machine has different temperature intervals for the machine to determine and choose, and the temperature intervals correspond to the low electric threshold Vd, and different temperature intervals point to different low electric thresholds Vd.
  • the machine selects an appropriate low-power threshold Vd, so that the machine can enter a low-power state after reaching the low-power threshold Vd, so that the machine can automatically or passively perform subsequent operations. If Vr>Vd, the machine continues to work and still detects and judges the real-time temperature Tr and real-time voltage Vr. The determination of the low power threshold Vd and the previous determination steps are further described below.
  • the machine since the machine is a walkable robot and has a corresponding charging stand, after the machine reaches a low-power state, the machine suspends work and returns to the charging stand for charging.
  • the step of "detecting the current real-time temperature Tr of the battery” includes:
  • the real-time temperature Tr of the battery is measured every time interval S1. Therefore, the immediacy of setting the low-power threshold Vd can be ensured, and the situation where the temperature changes but the low-power threshold Vd does not change accordingly can be prevented. And, to ensure accuracy, S1 is 200ms. It is equivalent to five detections and judgments in one second, preventing sudden temperature changes and improving stability.
  • the step of "obtaining the low power threshold Vd of the machine corresponding to the temperature range” includes:
  • the low electrical threshold Vd of the acquisition machine is 17.5V. That is, the battery temperature range of the machine is divided into two, and correspondingly, the low power threshold Vd also has two.
  • the low-electricity threshold Vd is 16.9V.
  • the machine's low-electricity threshold Vd is slightly higher, which is 17.5V. Therefore, after comparison, when the battery temperature is too low, the machine has a lower low-power threshold Vd. This is because the battery capacity is correspondingly reduced when the temperature is low, so the low-power threshold Vd is also lower.
  • the machine After the real-time voltage Vr of the machine ⁇ the low power threshold Vd, the machine enters the low power state and does not continue to work.
  • the low-power threshold Vd of the machine is judged by detecting and estimating that the battery power required to find the charging station is about 400mAh or more, and the battery power is estimated based on the return distance.
  • the value of the aforementioned low power threshold Vd is 16.9V and 17.5V, which can be applied to most batteries and has universality.
  • the machine also has a sleep state, and correspondingly, it also has a sleep threshold Vs.
  • Hibernation means that when the battery cannot be recharged when it cannot find the charging station, the battery itself will go to sleep when the battery is released too much and the voltage is too low. It will not be discharged and charged, but will be self-protected. Since different temperature ranges in the present invention correspond to different low-power thresholds Vd, it is obvious that different temperature ranges also correspond to different sleep thresholds Vs, so as to control the battery more accurately and prevent the battery from being sufficiently charged but still entering the sleep state. It happened.
  • control method further includes:
  • the judgment process can be carried out before the judgment of the low power state, or it can be carried out after the judgment of the low power state. Specifically, after the real-time voltage Vr is obtained, the magnitude between the real-time voltage Vr and the sleep threshold Vs is determined, and then it is determined whether the machine and its battery enter the sleep state.
  • the value of the sleep threshold Vs must be obtained.
  • the step of "determining the magnitude of the sleep threshold Vs under the real-time voltage Vr and the real-time temperature Tr" includes:
  • the sleep threshold Vs of the acquired machine is 16.0V; when 20°C ⁇ Tr>5°C, the sleep threshold Vs of the acquired machine is 16.5V; when 20°C ⁇ Tr ⁇ 35°C, The dormancy threshold Vs of the obtained machine is 16.0V; when 35°C ⁇ Tr ⁇ 50°C, the dormancy threshold Vs of the obtained machine is 16.3V; when Tr>50°C, the dormant threshold Vs of the obtained machine is 16.5V.
  • the temperature is different, the low power threshold Vd of the machine is also different, and the sleep threshold Vs is also different accordingly. This is also due to the different discharge rates of the batteries at different temperatures, so I will not repeat them here.
  • the step "obtain the sleep threshold Vs of the machine corresponding to the temperature range" includes:
  • the dischargeable capacity of the battery is greater than 400mAh.
  • the size of the sleep threshold Vs can be further accurate, and it can be ensured that no matter whether the dischargeable capacity of the battery reaches the low power threshold Vd or the sleep threshold Vs, it can reach an appropriate power level for the next operation.
  • the machine if the real-time voltage Vr of the machine is less than or equal to the sleep voltage Vs, the machine enters the sleep state and does not work; when the real-time voltage Vr of the machine is between the sleep voltage Vs and the low power threshold Vd , The machine enters a low-power state and seeks a charging dock for charging; only when the real-time voltage Vr is greater than the sleep voltage Vs and the low-power threshold Vd, the machine will walk normally and perform work such as mowing.
  • control method includes:
  • the normal working state includes:
  • the battery temperature is too low or too high, it will affect the discharge efficiency of the battery and may cause safety hazards, so it is necessary to set a temperature range within the normal working state of the machine. Therefore, in this embodiment, it is necessary to compare the real-time temperature Tr with the highest abnormal temperature Th and the lowest abnormal temperature T1 first. If the real-time temperature Tr is lower than the minimum abnormal temperature Tl or higher than the maximum abnormal temperature Th, the machine enters a non-working state. Only when the real-time temperature Tr is between the lowest abnormal temperature Tl and the highest abnormal temperature Th, the machine is in a normal working state, and it is possible to detect the real-time voltage Vr and appear a low-power state or a dormant state.
  • the lowest abnormal temperature Tl is 0°C
  • the highest abnormal temperature Th is 70°C. That is, when the temperature is below 0°C or above 70°C, the machine does not work to prevent safety hazards.
  • the present invention provides a machine control method, and in this control method, the real-time temperature Tr and the real-time voltage Vr of the battery are detected, and different temperature intervals correspond to different low-voltage thresholds.
  • Vd and sleep threshold Vs so that the low power threshold Vd and sleep threshold Vs at different real-time temperatures Tr can be obtained, which makes the control of the machine more precise and perfect, and reduces the impact of battery temperature on the operation of the machine.
  • the detection of battery temperature is periodic, which improves the accuracy of detection.
  • the present invention also has a judgment as to whether the machine can work normally. When the temperature is too high or too low, the machine enters a non-working state, so that the safety of the machine can be further improved.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Secondary Cells (AREA)

Abstract

L'invention concerne un procédé de commande de machine qui consiste à : mesurer une température en temps réel Tr d'une batterie ; acquérir une plage de températures dans laquelle s'inscrit la température en temps réel Tr ; acquérir un seuil de sous-tension Vd d'une machine correspondant à la plage de températures de la température en temps réel Tr ; mesurer une tension en temps réel Vr de la batterie ; comparer la tension en temps réel Vr au seuil de sous-tension Vd ; et si Vr ≤ Vd, faire passer la machine à un état de sous-tension, les seuils de sous-tension Vd de la machine qui correspondent aux plages de température n'étant pas identiques. La machine a différentes plages de températures qui peuvent être déterminées et sélectionnées de ce fait. Les plages de température correspondent à des seuils de sous-tension Vd. Des plages de températures différentes indiquent des seuils de sous-tension Vd différents. Lorsqu'elle est à basse température, la machine sélectionne un seuil de sous-tension Vd approprié, de telle sorte que la machine passe à l'état de sous-tension lorsque le seuil de sous-tension Vd est atteint, ce qui facilite les opérations ultérieures effectuées automatiquement ou passivement par la machine.
PCT/CN2019/117844 2019-07-30 2019-11-13 Procédé de commande de machine WO2021017294A1 (fr)

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CN201910693499.1 2019-07-30
CN201910693499.1A CN112305941A (zh) 2019-07-30 2019-07-30 一种机器的控制方法

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CN107683444A (zh) * 2015-05-28 2018-02-09 三星电子株式会社 电子装置及其电源管理方法
CN106904088A (zh) * 2017-03-02 2017-06-30 苏州协鑫集成科技工业应用研究院有限公司 放电控制方法及装置
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